Route Planner
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Overview

The Route Planner is a component of the Isaac AMR Navigation Stack. Its purpose is to compute a global route to a goal point for a single robot. This computaton happens on the robot. If instead a routing for an entire fleet of robots is required, the Isaac cloud stack including cuOpt should be used.

Inputs

  • Route Request: A request message containint the start and goal of a route.

  • Waypoint Graph Generator: A component that can generate a waypoint graph. For more information see section “Waypoint Graph Generator”.

Outputs

  • Route: The planned route, consisting of a sequence of 3d waypoints.

  • Waypoint Graph: The generated waypoint graph that was used to plan the route.

flowchart LR A:::hidden --> |Route Request| Planner B:::hidden --> |Waypoint Graph Generator| Planner Planner[Route Planner] --> |Route| C:::hidden Planner --> |Waypoint Graph| D:::hidden

Algorithm

The Route Planner internally uses a shortest path search on a graph to find the route.

API Documentation

NvIsaacRoutePlannerExtension

Extension containing components for route planning.

nvidia::isaac::RoutePlannerMetrics

Collects metrics from the route planner.

Parameters:

name

Search Failure Count
lookup_name

search_failure_count
description

Metric component to count the route search failures.
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Search count
lookup_name

search_count
description

Metric component to count the total number of route search requests made.
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Route Length Sum
lookup_name

route_length_sum
description

Metric component to sum all the routes planned
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Graph Generation Time Average
lookup_name

graph_generation_time_average
description

Metric component to take the average of graph generation time.
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A

nvidia::isaac::RoutePlanner

Plans a route on a map.

Parameters:

name

Input Route Request
lookup_name

rx_route_request
description

The incoming routing request from the planner stack.
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Build WPG Signal
lookup_name

rx_build_wpg_signal
description

Signal to build a new waypoint graph.
flags

GXF_PARAMETER_FLAGS_OPTIONAL
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Output Route Channel
lookup_name

tx_route
description

The route connecting start and goal frame.
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Output Waypoint Graph Channel
lookup_name

tx_waypoint_graph
description

The generated waypoint graph that is used to plan the route.
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Pose Tree
lookup_name

pose_tree
description

Handle to the pose tree.
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Map Frame
lookup_name

map_frame
description

The name of the map (reference frame for the occupancy grid map) in the pose tree.
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Waypoint Graph Generator
lookup_name

graph_generator
description
flags

GXF_PARAMETER_FLAGS_NONE
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A
name

Route Planner Metrics
lookup_name

route_planner_metrics
description

Components that records route planner metrics.
flags

GXF_PARAMETER_FLAGS_OPTIONAL
type

GXF_PARAMETER_TYPE_HANDLE
default

N/A

© Copyright 2018-2023, NVIDIA Corporation. Last updated on Oct 23, 2023.